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. Author manuscript; available in PMC: 2018 Jul 24.
Published in final edited form as: IEEE Int Conf Robot Autom. 2017 Jul 24;2017:504–510. doi: 10.1109/ICRA.2017.7989063

Fig. 10.

Fig. 10

Torque Outputs of Normal Walking: Mean values (reference and tracking) and error bars (±1 standard deviation shown in shaded regions) of the actuator torque with quasi-stiffness control.